Overseer

Installation

1. Install Ubuntu 11.04
2. Read through Ground Truth with Kinect to get a feel for how this works. Follow the first steps of Ground truth with Kinect, namely the ones that show you how to get ros, the addons and eros. DON'T get the UT code from googlecode!
3. Get git and get our source
4. Do git submodule sync and git submodule update to get our version of the UT code
5. Use nbites/util/scripts/linux_setup.sh to set up the machine for compilation
6. In nbites/src/qtool do make overseer_server to produce the overseer server library; the reason this is here is because qtool and overseer share the ground truth message format (that's how we stream it around). If compiled properly you should see git complain about a new file in overseer (it's the library)
7. In nbites/src/overseer run the make_overseer.sh script. Pray it builds. In case it has trouble with not finding libraries, add ~/nbites/ext/lib to your LD_LIBRARY_PATH or installing the missing dependencies.
8. Open the Kinect driver by running roslaunch openni_camera openni_node.launch
9. Use the calibrate_overseer.sh script to get a good calibration of the center of the field transform.
10. Run it using run_overseer.sh. Look in the detect.cc source file for a way to turn visualizing the PCL on or off for debugging purposes.

Troubleshooting

The color table that comes with it is generally good, but if you want to toy with it look at Ground truth with Kinect for ways of running the table calibration.